Brainlab Ag

Wolfgang Steinle

Nils Frielinghaus

Christoffer Hamilton

Stefan Hofberger

Christian Rabus

Stefan Vilsmeier

Timo Neubauer

Rainer Lachner

Ingmar Hook

Dominik Fischer

Wei Wei

A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; acquiring patient position data representing the position of a patient to be treated; and calculating the configuration from the treatment information data and the patient position data.

Determining a configuration of a medical robotic arm

A sterility-preserving robotic frontend-system, including a flexible trajectory-guide including at least one force- and/or torque-transmitting coupling-member, a baffle-member separating a sterile section from a non-sterile section, and a sterility-sleeve attached to the baffle-member; an actuator unit having a sensor unit that senses at least one of a) whether a trajectory-guide is placed with respect to the actuator unit in a manner that allows engaging-members to accurately engage an actuator interface, and b) whether the engaging-members have accurately engaged the actuator-interface; and a retainer-receptacle adapted to temporarily accommodate the trajectory guide, and to restrain flexibility of the trajectory-guide while it is accommodated. A packaging-container having an inner sterile volume containing the retainer-receptacle and the trajectory-guide and a method of setting up such a sterility-preserving robotic frontend-system.

Sterility-preserving robotic frontend-system

A head-holder support for attaching a medical head-holder to a patient table is provided that has a rigid base body, an adjustable and lockable head-holder interface at the base body, which is adapted to adjustably couple the head-holder to the base body by providing at least three degrees of freedom for the spatial relative position between the head-holder and the base body, wherein the at least three degrees of freedom are lockable so as to establish a rigid coupling between the head-holder and the base body, and at least one robotic arm interface at the base body, which is adapted to provide a rigid coupling between a robotic arm and the base body.

Head-holder support

The invention relates to a computer-implemented medical method for determining a virtual flight-path () with respect to a virtual representation () of at least one anatomical structure, the method comprising executing, on a processor of a computer, the steps of:&#x2014;acquiring, on the processor, patient image data describing at least one patient image showing at least one anatomical structure of a patient; &#x2014;acquiring, on the processor, atlas data describing at least one model of the at least one anatomical structure; &#x2014;determining, by the processor and based on the patient image data and the atlas data, representation data describing a virtual representation of the at least one anatomical structure; &#x2014;acquiring, on the processor, requirement data describing at least one requirement for at least one flight-path (); and&#x2014;determining, by the processor and based on the representation data and the requirement data, flight-path data describing at least one virtual flight-path () with respect to the virtual representation () of the at least one anatomical structure.

Atlas-based calculation of a flight-path through a virtual representation of anatomical structures

The invention relates to a medical navigation marker device () comprising a light reflector, characterised in that the reflector features a marker pattern () having the following features:&#x2014;the marker pattern () points in more than one spatial direction; &#x2014;the marker pattern () comprises at least one moire pattern () which points in more than one spatial direction; and&#x2014;the marker pattern () comprises a face identification pattern () which identifies the face of the marker being viewed from a particular spatial direction. The invention also relates to a combination of a medical marker device () and a medical navigation system () which uses the marker device () as a spatial position and/or orientation marker, and to the use of a medical marker device () for providing guidance to a user of a medical navigation system () by evaluating the spatial position and/or orientation information provided by the marker device.

Moir&#xe9; marker device for medical navigation

A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: &#x2014;acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; &#x2014;acquiring patient position data representing the position of a patient to be treated; and &#x2014;calculating the configuration from the treatment information data and the patient position data.

The present invention relates to computer-implemented medical method of verifying an expected deformation of an elastically deformable and actuator-adjusted medical fine-adjustment unit (), the method comprising executing, on a processor of a computer, the steps of; &#x2014;acquiring model data describing a model of the fine-adjustment unit (), the model reflecting deformation properties of the fine-adjustment unit (); &#x2014;acquiring actuator data describing an actuator position of at least one actuator coupled to the fine-adjustment unit (); &#x2014;determining, based on the model data and the actuator data, target deformation data describing a target deformation of the fine-adjustment unit () caused by the at least one actuator at said actuator position; &#x2014;acquiring actual deformation data describing an actual deformation of the fine-adjustment unit () caused by the at least one actuator at said actuator position; &#x2014;determining, based on the target deformation data and the actual deformation data, verification data describing whether the target deformation corresponds to the actual deformation. The present invention further relates to a corresponding computer program causing a computer to perform such method, and a corresponding system comprising such a computer.

Solid-joint deformation-model verification

Provided is a reference array holder, including a first segment configured to be mounted to a reference structure, and a second segment supporting a reference array having at least one tracking marker, wherein the second segment is movably coupled to the first segment via at least one coupling, and wherein the at least one coupling includes a sensor that provides information as to the spatial position of the second segment relative to the first segment. Also provided is tracking and/or navigation system including such reference array holder and to a computer implemented method of controlling a reference array holder.

Reference array holder

A system and method of producing a medical support device is disclosed. The disclosure determining a three-dimensional shape of the medical support device for supporting an anatomical body part of a patient, the method executed by a computer and including acquiring body part geometry data describing a geometry of the anatomical body part; acquiring medical procedure data describing a medical procedure to be carried out on the patient; acquiring atlas data describing a general three-dimensional shape of the anatomical body part; determining, based on the body part geometry data and the medical procedure data and the atlas data, support device geometry data describing the geometry of the support device. The method and system further includes generative forming of the device by issuing at least one control command to the generative forming device for forming the medical support device based on the support device geometry data.

Atlas-based production of a medical support device

The invention relates to a method for controlling a medical apparatus, wherein: patient image data is generated using an image-generating medical apparatus; a patient image is produced on the basis of this data and displayed on an image output unit; and a medical apparatus is in turn controlled by an interaction with the image.

Image-based controlling method for medical apparatuses

A method of operating a medical registration system, the medical registration system comprising a robot which carries a surface point sampling device and comprising a computer connected to the robot, to obtain a registration of a 3D image of a patient with the patient (P) by: a) acquiring the 3D image of the patient; b) acquiring an initial registration of the 3D image with the patient as the registration; c) instructing the robot to sample the spatial locations of N different points on the surface of the patient using the surface point sampling device, wherein N is a positive integer; d) updating the registration based on the spatial locations of the N sampled points; and e) repeating steps c) and d) until a predetermined exit condition is fulfilled.

Method and system for registering a patient with a 3D image using a robot

Disclosed is a medical data processing method for determining control data for an automated movement of a robotic system () to move a tool operatively associated with the robotic system (), wherein the method comprises executing, on at least one processor of at least one computer (), steps of: a) acquiring (S) image data describing an image of an anatomical structure of a patient; b) determining (S) planned position data, based on the image data, describing at least one planned position of the tool relative to the anatomical structure of the patient; c) acquiring (S) status change data describing the change of data a status of the robotic system () from a first status to a second status, wherein in the first status a manual movement of at least one part of the robotic system () is allowed and in the second status a manual movement of the at least one part of the robotic system is inhibited; d) acquiring (S) actual position data describing the actual position of an element of the statue change data robotic system, in particular the tool, relative to the anatomical structure; e) determining (S), based on the planned position data and the status change data and the actual position data, control data describing instructions for controlling, in the second status of the robotic system (), at least one actuator to move the tool.

Optimized semi-robotic alignment workflow

Disclosed is a computer-implemented method for planning a trajectory () through an anatomical body part (), the trajectory () being usable for a medical procedure and the method comprising executing on at least one processor of at least one computer, steps of: &#x2022;a) acquiring (S), at a processor, patient image data describing a medical image of a patient anatomical body part being the anatomical body part () in a patient's body. &#x2022;b) acquiring (S), at a processor, atlas trajectory data describing a model anatomical body part being a model of the patient anatomical body part, and describing the position of at least one predetermined trajectory through the model anatomical body part; &#x2022;c) acquiring (S), at a processor, critical structure data describing the position of at least one critical structure () in the model anatomical body part or in the patient anatomical body part; &#x2022;d) determining (S), by a processor and based on the patient image data and the atlas trajectory data and the critical structure, mapping data describing a mapping of the model anatomical body part, of the position of the at least one predetermined trajectory and of the position of the at least one critical structure () onto the medical image of the patient anatomical body part; &#x2022;e) determining (S), by a processor and based on the mapping data and the atlas trajectory data and the patient image data, analysis region data describing an analysis region in the patient image data, the analysis region () having a position in the patient anatomical body part fulfilling a predetermined spatial condition relative to the position of the mapped predetermined trajectory (); &#x2022;f) determining (S), by the processor and based on the patient image data and the atlas trajectory data and the analysis region data and the critical structure data, straight trajectory data describing a straight line trajectory () through the patient anatomical body part having a position fulfilling a predetermined spatial condition relative to the position of at least one critical structure () in the patient anatomical body part.

Determining a straight line trajectory for a medical procedure

A method for controlling a medical apparatus includes identifying at least one object and at least one part of a user's body; capturing the position, movement and/or alignment of the identified part of the body and the identified object; and controlling at least one apparatus using a corresponding predetermined command, if predetermined criteria for the identity of the object and/or part of the body and its position, movement and/or alignment are fulfilled. A device for controlling a medical apparatus includes an identifying device which identifies parts of a user's body and objects; a capture device which captures the position, movement and/or alignment of the identified parts of the body and objects; and a control device which controls at least one apparatus using a corresponding predetermined command, if predetermined criteria for the identity of the object and/or part of the body and its position, movement and/or alignment are fulfilled.

Method and device for controlling apparatus

The invention relates to an embedding unit for display devices to be embedded in a building, comprising at least one receptacle for a medical display device.

Growing community of inventors

Munich, Germany

Wolfgang Steinle